CN117657703B - Car body suspension conveying system for trolley production - Google Patents
Car body suspension conveying system for trolley production Download PDFInfo
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- CN117657703B CN117657703B CN202311761572.7A CN202311761572A CN117657703B CN 117657703 B CN117657703 B CN 117657703B CN 202311761572 A CN202311761572 A CN 202311761572A CN 117657703 B CN117657703 B CN 117657703B
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- 239000000725 suspension Substances 0.000 title claims abstract description 39
- 238000004519 manufacturing process Methods 0.000 title claims abstract description 28
- 238000012545 processing Methods 0.000 claims abstract description 112
- 239000000463 material Substances 0.000 claims abstract description 55
- 230000007246 mechanism Effects 0.000 claims abstract description 28
- 238000000034 method Methods 0.000 claims description 23
- 238000003466 welding Methods 0.000 claims description 19
- 230000008569 process Effects 0.000 claims description 17
- 230000003287 optical effect Effects 0.000 claims description 13
- 230000001681 protective effect Effects 0.000 claims description 10
- 238000001514 detection method Methods 0.000 claims description 5
- 238000003780 insertion Methods 0.000 claims description 2
- 230000037431 insertion Effects 0.000 claims description 2
- 238000013461 design Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 4
- 229920002635 polyurethane Polymers 0.000 description 3
- 239000004814 polyurethane Substances 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
Abstract
The invention relates to the technical field of automatic feeding of automobile bodies, in particular to a car body suspension conveying system for trolley production, which comprises a processing module, a driving mechanism, an information carrier module and an identification module, wherein the driving mechanism, the information carrier module and the identification module are electrically connected with the processing module, the information carrier module is used for storing information of different stations or different materials, the identification module acquires the information of the information carrier module and inputs the information of the information carrier module into the processing module for comparing and matching station information and material information, when the information of the information carrier module is matched with the information of the processing module, the processing module outputs a stop instruction to the driving mechanism, the car body suspension conveying system is subjected to grid connection through a closed-loop control to realize real-time follow-up and scheduling of the materials, the design of a positioning module increases the stability of a clamping device when stopping, accurately adjusts the lower clamp position of the clamping device according to requirements, and improves the stability of clamping parts of the car body.
Description
Technical Field
The invention relates to the technical field of automatic feeding of automobile bodies, in particular to a body suspension conveying system for trolley production.
Background
Along with the continuous development of technology, the automobile body gradually tends to develop in the full-automatic production direction in the processing process, the automobile body is conveyed by materials in each process through an automobile body suspension conveying system to finish the processing of corresponding processes, the automobile body suspension conveying system is mainly applied to conveying of automobile part subassemblies in a welding workshop, and the process of conveying parts or assemblies from point A to point B generally relates to links such as logistics, transportation and carrying;
The vehicle body suspension conveying system is a conveying system which realizes the functions of starting, stopping, walking, lifting and the like of the system through PLC programming, and mainly comprises a track, a clamping device which slides on the track and is used for clamping materials, and a driving mechanism which is used for pushing the clamping device to move, wherein the clamping device comprises a power trailer device, a double-wire rope lifting device and a base frame;
In a vehicle body suspension conveying system in the prior art, a clamping device is controlled to move from a point A to a point B through a motion parameter preset by a program, in an actual application scene, the point A is a part placement area, the point B is an assembly processing area, the design of the conveying system belongs to an open loop system, parts of a vehicle body are numerous, or the same part has various dimensions, the clamping device does not have a real-time detection feedback process after taking materials into place, when a plurality of groups of points A of the vehicle body suspension conveying system are required to be matched with a plurality of groups of points B, the clamping device is easily influenced by factors such as external interference, the situation that materials clamped by the clamping device are not matched with preset processing stations exists, the welding of a welding manipulator is easily caused, the assembly situation of the parts cannot be ensured or monitored, secondly, the clamping device hangs the parts through a base frame, an upper clamp and a lower clamp of the base frame are fixedly assembled, and fine adjustment cannot be carried out on different parts so as to clamp the parts, so that shaking and the clamping device is easy to occur in the moving process, the process of the clamping device, the taking and the clamping device and the assembly is influenced, particularly, the clamping device is difficult to move the parts and the moving speed of the clamping device are difficult to become the part due to the inertia and the moving speed of the clamping device;
With respect to the related art described above, the inventors consider that there is a defect that it is difficult to ensure the assembly accuracy in the vehicle body suspension conveying system.
Disclosure of Invention
The application provides a body suspension conveying system for trolley production, which aims to solve the problems of no feedback and poor positioning precision in an open loop system for body suspension conveying in the prior art.
The car body suspension conveying system for trolley production provided by the invention adopts the following technical scheme:
The car body suspension conveying system for the production of the trolley comprises a processing module, a driving mechanism, an information carrier module, an identification module and an adjusting module, wherein the driving mechanism, the information carrier module, the identification module and the adjusting module are electrically connected with the processing module, the information carrier module is used for storing information of different stations or different materials, the identification module is used for inputting information of the information carrier module to the processing module for comparison and matching of station information and material information, when the information carrier module is matched with the information of the processing module, the processing module outputs a stop instruction to the driving mechanism, the identification module is provided with an RFID code scanner used for identifying the information carrier module, the RFID code scanner is connected with a clamping device, the information carrier module comprises a first RFID code carrier group used for storing material information, the first RFID code carrier group is connected above a material frame, the first RFID code carrier group comprises a plurality of groups used for storing different material information respectively, the information carrier module also comprises a second code carrier group used for storing processing station information, when the information carrier module is matched with the information of the processing module, the second code carrier module outputs a stop instruction to the driving mechanism, the RFID code scanner is arranged on the RFID carrier module is connected with the clamping device, the RFID code carrier module comprises a plurality of RFID code carrier groups used for storing the material information, the RFID code carrier group is connected with the clamping device, the RFID code carrier group is connected with the RFID code carrier frame, the RFID code carrier group is used for capturing information, the RFID code carrier clip is used for capturing information, the information is connected with the information, the RFID code carrier clip is used for capturing the information, and the information, the information is connected with the information, and the information carrier is used for capturing the information, and processing, searching and matching with preset station information in the processing module, outputting the moving position of the clamping device and corresponding processing parameters, when the clamping device moves to the preset processing position, scanning the RFID carrier body II by the RFID code scanner, comparing the information in the RFID carrier body II with the preset processing information of the processing module, and confirming whether the information is consistent with the processing information of the RFID carrier body II, wherein when the information is consistent with the processing information, the clamping device stops, and when the information is inconsistent with the processing information, the driving mechanism starts, and the RFID code scanner continues to scan the next RFID carrier body II.
Preferably, the automatic feeding device further comprises a positioning module for locking the clamping device when the driving module stops, wherein the positioning module is arranged corresponding to the preset stopping position of the driving mechanism.
Preferably, the positioning module comprises a positioning pin and a positioning cylinder, the sliding rail is provided with a positioning hole, and the processing module is electrically connected with the positioning cylinder and used for controlling the positioning pin to move back and forth towards the positioning hole.
Preferably, the insertion end of the positioning pin is provided with an inclined plane, and the inclined plane is gradually inclined and contracted from the outer side of the side wall of the positioning pin towards the direction of the positioning hole.
Preferably, the adjusting module comprises a rotating motor, the lower clamp is connected with the hanging frame through a screw rod sliding block, the lower clamp is connected with the sliding block, and the rotating motor is used for rotating the screw rod.
Preferably, the adjusting module further comprises a pressure sensor, wherein the pressure sensor is connected with the lower clamp, and the pressure sensor is electrically connected with the processing module and used for feeding back the clamping state of the lower clamp on the material.
Preferably, the welding arc light detection device further comprises a protective cover, an optical sensor and a pushing cylinder, wherein the optical sensor and the pushing cylinder are electrically connected with the processing module, the protective cover is connected with the output end of the pushing cylinder, the optical sensor is used for inputting welding arc light detection signals, and the processing module is used for outputting instructions to control the pushing cylinder to push the protective cover to move back and forth towards the camera.
Preferably, the clamping device is provided with a plurality of groups, the clamping devices of the groups operate in the sliding rail, and the sliding rail is in closed-loop arrangement.
Preferably, the automatic feeding device further comprises an ultrasonic module, wherein the ultrasonic module is arranged in the forward direction of the clamping device, the ultrasonic module is connected with the processing module and used for inputting information for detecting whether an obstacle exists in front, and the processing module gives out a start-stop instruction of the driving mechanism according to the information.
The beneficial effects of the invention are as follows:
1. Through being equipped with information carrier module and identification module, realize the accurate positioning and the tracking to the automobile body spare part transportation in-process, through this closed loop system, solved the problem that traditional open loop system locate mode precision is low, secondly, through closed loop control's automobile body suspension conveying system, it is more intelligent, carry out the real-time follow-up and the dispatch that the material was realized to be incorporated into the power networks with automobile body suspension conveying system, the reading speed of RFID card is very fast, improves reading efficiency, the anti-environment interference ability is strong.
2. Through being equipped with positioning module, ensure that clamping device is in the preset position when stopping, the design on locating pin inclined plane, the locating pin inserts the locating hole more easily, compatible ascending deviation of different directions, the fault tolerance of reinforcing system has further improved positioning accuracy, has solved traditional automobile body and has hung conveying system and only relies on the procedure to control when stopping, has the problem that stop position and preset position exist the deviation, secondly, the design of locating pin increases clamping device's stability when stopping. Due to the existence of the locating pin, the clamping device can not generate large deviation due to vibration or other interference when stopping.
3. Through being equipped with adjusting module, carry out accurate regulation clamping device's lower anchor clamps position as required, ensure to snatch and can realize accurate location when placing the material, increase the stability of system, improve the reliability of system, promote clamping device and press from both sides the stability of tight automobile body spare part, solve traditional clamping device and can't finely tune different spare parts in order to press from both sides it, this leads to the clamping device to appear rocking easily at the in-process that removes and cause the problem of off normal.
Drawings
FIG. 1 is a system diagram in an embodiment of the application;
FIG. 2 is a logic diagram of the operation of the system in an embodiment of the present application;
FIG. 3 is a schematic diagram of the structure in an embodiment of the application;
FIG. 4 is an assembled perspective view of a clamping device and a sliding rail in an embodiment of the present application;
FIG. 5 is an assembled front view of the clamping device and the slide rail in the embodiment of the application;
FIG. 6 is an enlarged view of a portion of FIG. 5 at A;
FIG. 7 is a diagram showing the positional relationship between a camera and a shield in an embodiment of the present application;
fig. 8 is a partial schematic view of a base frame in an embodiment of the application.
Reference numerals illustrate: 1. a clamping device; 101. a clamp is arranged; 102. a lower clamp; 103. hanging a frame; 2. a slide rail; 201. positioning holes; 3. a driving mechanism; 301. a speed reducing motor; 4. an information carrier module; 401. an RFID carrier I; 402. an RFID carrier II; 501. an RFID code scanner; 502. a camera; 7. a positioning module; 701. a positioning pin; 702. positioning a cylinder; 703. an inclined plane; 801. a rotating motor; 802. a pressure sensor; 901. an optical sensor; 902. a protective cover; 903. a pushing cylinder; 904. an ultrasonic module; 905. a screw rod; 906. a sliding block.
Detailed Description
The invention will be further described with reference to figures 1-8 and examples.
The embodiment discloses a body suspension conveying system for trolley production.
Referring to fig. 1 to 5, a car body suspension conveying system for trolley production comprises a clamping device 1, a sliding rail 2, a driving mechanism 3, an information carrier module 4, an identification module and a processing module, wherein the clamping device 1 and the sliding rail 2 are slidingly assembled to be used for moving materials from a part placement area at a point A to an assembly processing area at a point B, the materials are car body parts, the clamping device 1 comprises a power trailer device, a double-wire rope lifting device and a base frame, the power trailer device is used for suspending and walking and conveying the car body parts, the driving mechanism 3 is used for pushing or stopping the power trailer device, the driving mechanism 3 comprises a speed reducing motor 301, the double-wire rope lifting device is fixed on the power trailer device and can walk along with the power trailer device, the double-wire rope lifting device is used for lifting at the vertical position of the base frame, the bottom of the double-wire rope lifting device is connected with the base frame and used for clamping and fixing the left and right car body parts, and the processing module is a processor;
The base frame comprises a hanging frame 103, an upper lifting appliance, an upper clamp 101, a lower lifting appliance and a lower clamp 102, wherein the upper lifting appliance and the lower lifting appliance are arranged below the hanging frame 103, the upper clamp 101 is arranged above the upper lifting appliance, and the upper clamp 101 is inlaid with polyurethane and is provided with a notch for installing and fixing an upper frame on the inner side of a vehicle body part; the lower clamp 102 is arranged on the lower lifting appliance, polyurethane is inlaid in the lower clamp 102 and is provided with a notch for installing and fixing a lower frame of a vehicle body part, the lifting frame 103 is connected with a double-wire rope lifting device, and the base frame can realize the loading and unloading of the robot to the vehicle body part;
The automobile body spare part of multiple different specifications has been placed around the area was placed along slide rail 2 to the A some processing district has arranged the welding assembly robot of multiunit difference along track both sides, and automobile body spare part is after stamping forming, carries out the classification of stepping through tolerance interval to guarantee that the assembly clearance is unanimous, thereby promotes assembly accuracy, and the drawing in this embodiment requires the size to be automobile body spare part D1+ -0.3, automobile body frame D2+ -0.3, carries out the assembly of stepping to tolerance range according to 0.2, and automobile body spare part D1 can divide into I shelves: -0.3 to-0.1, grade I: -0.1, ii gear I: 0.1 to 0.3; the body frame D2 may also be classified into I-range: -0.3 to-0.1, grade I: -0.1, ii gear I: 0.1 to 0.3; during assembly, the I grade of the vehicle body part D1 and the I grade of the vehicle body frame D2 are assembled so as to improve the assembly precision, therefore, the vehicle body hanging and conveying system needs to identify which grade is needed after taking the vehicle body part, and the vehicle body part is correspondingly conveyed to a processing area for assembly, of course, the vehicle body part after the stamping of the previous working procedure is placed under the slide rail 2 in sequence according to the grade, meanwhile, the material frame for placing the vehicle body part is provided with a mark which is convenient for the identification and grading of the previous working procedure, and the vehicle body frame is placed on a corresponding processing station after being distributed according to the vehicle body part, but the I grade and I I grade of the processing station are fixed, because of the need of corresponding different welding parameters, the vehicle body hanging and conveying system has the functions of taking materials from the unordered part placement area with the mark, moving to the ordered processing area with the mark for assembly, requiring the vehicle body hanging and conveying system to accurately carry out conveying work, and the recognition module 4 is matched with the carrier information after the recognition module 4 carries out the driving module 4 to carry out the processing module and the carrier information when the module is matched with the carrier information 301 to carry out the carrier processing module 4; it should be noted that the identification module may be a camera 502, an inductor, etc., and the information carrier module 4 is tag information, a preset program, etc. corresponding to the identification capability of the identification module.
Referring to fig. 1 to 5, in order to enable the vehicle body suspension conveying system to accurately perform conveying work, and to be capable of carrying materials to corresponding processing areas for assembly after grabbing the materials from a material placement area, an information carrier module 4 is used for storing information of different stations or different materials, the identification module is electrically connected with a processing module for inputting identification information, the processing module is electrically connected with a driving mechanism 3 for outputting start-stop instructions, the information carrier module 4 is used for storing material gear information corresponding to the different materials, then the vehicle body suspension conveying system moves to the identification module for capturing and identifying the material information, and then the material information is transmitted to the processing module, after receiving the information transmitted by the identification module, the processing module processes and analyzes the information, and generates corresponding start-stop instructions, so that the driving mechanism 3 pushes a material clamping device 1 to move to the processing areas, captures and identifies the station information, and stops when the materials are matched, and if the materials are not matched, a plurality of groups of different welding assembly robots are arranged at two sides of a track, and as the system can automatically identify the station and the material information and output corresponding start-stop instructions, the production efficiency can be reduced, and the production error can be improved, and the production quality can be improved.
Referring to fig. 1 to 5, in a vehicle body production workshop, the environmental conditions are complex and various, particularly in a welding workshop, the workshop environmental temperature is high, in order to realize that a vehicle body suspension conveying system can accurately and stably identify and convey, and improve the identification efficiency, an information carrier module 4 comprises a first RFID carrier group for storing material information, the first RFID carrier group comprises a plurality of sets of RFID carrier first 401 for respectively storing different material information, an identification module is provided with an RFID code scanner 501 for identifying the information carrier module 4, the RFID carrier first 401 is connected above a material frame, and the RFID code scanner 501 is connected with a clamping device 1; after the RFID code scanner 501 scans the information of the first RFID code carrier 401, the information is input to the processing module, processing, searching and matching are carried out on the information and the preset station information in the processing module, the moving position of the clamping device 1 and corresponding processing parameters are output, and the first RFID code carrier group comprises the first I-grade RFID code carrier 401 storing I-grade information of the vehicle body part D1, the I I-grade RFID code carrier 401 storing I I-grade information, the first I-grade RFID code carrier 401 storing I-grade information of the I-grade information, the … and the first n-grade RFID code carrier 401 storing n-grade information.
Referring to fig. 1 to 5, processing search matching is performed on preset station information in the processing module, after the moving position of the clamping device 1 and corresponding processing parameters are output, the risk of deviation still exists between the moving position of the clamping device 1 and the moving position of the actual clamping device 1, in order to detect whether the position of the clamping device 1 moving to the processing area is the preset processing position, the information carrier module 4 further includes a second RFID carrier group for storing processing station information, the second RFID carrier group includes a plurality of sets of RFID carrier bodies two 402 for storing different processing station information respectively, the RFID carrier two 402 is connected with the slide rail 2, the plurality of sets of RFID carrier bodies two 402 respectively correspond to different processing arrangements, wherein, the RFID carrier bodies one 401 and two 402 are card-shaped, it is to be noted that the same clamping mechanism is provided with one or more sets according to the arrangement condition of the RFID carrier bodies one 401 and two 402 according to the RFID scanner 501, the second RFID carrier group comprises an I-grade RFID carrier two 402 for storing I-grade information of a vehicle body frame D2, an I I-grade RFID carrier two 402 for storing I I-grade information, an I I-grade RFID carrier two 402 for storing I-grade information, … and an n-grade RFID carrier two 402 for storing n-grade information, the reading speed of an RFID card is very fast, the reading efficiency can be greatly improved, under the condition that a large amount of information needs to be processed, the application of the RFID card can obviously improve the working efficiency, because the RFID card does not need to be contacted with a card reader, the service life of the RFID card is relatively longer, in addition, the RFID card has excellent performances such as water resistance, antimagnetic property, compression resistance, high temperature resistance and the like due to the wireless characteristics, can stably work in various environments, and can realize logistics tracking of vehicle body parts in the moving process, and a vehicle body suspension conveying system controlled by a closed loop, more intelligent, carry out the real-time follow-up and the dispatch of material with the automobile body suspension conveying system that is incorporated into power networks, when clamping device 1 moved to the processing position of predetermineeing, RFID scanned the sign indicating number ware 501 and scanned RFID carrier two 402, compares the information in this RFID carrier two 402 with the processing information of processing module predetermineeing, confirms whether the two unanimity, and when unanimity, clamping device 1 stopped, and when inconsistent, actuating mechanism started, RFID scanned sign indicating number ware 501 and continued to scan next RFID carrier two 402.
In order to keep the identification position of the RFID code scanner 501 fixed, the identification consistency is improved, the identification error is reduced, the RFID code scanner 501 is arranged on a power trailer device, and the RFID code scanner 501 moves along the sliding rail 2 along with the power trailer device and does not move up and down along with the base frame.
Referring to fig. 1 to 5, when the RFID code scanner 501 recognizes the first RFID code carrier 401 or the second RFID code carrier 402, a signal is transmitted to a processing module, after the processing module is processed and analyzed, an instruction is sent to a speed reduction motor 301, the speed reduction motor 301 reacts again, in this process, delay is likely to cause deviation between the stop position of the material clamping device 1 and a preset position, of course, the processing module can be corrected by debugging and setting compensation in a program, but the delay is always eliminated, in order to enable the material clamping device 1 to keep stable when the base frame is lifted or the welding robot takes materials from the power trailer device, a car body suspension conveying system for trolley production further comprises a plurality of groups of positioning modules 7 for locking the material clamping device 1 when the driving module stops, the positioning modules 7 are arranged corresponding to the information carrier modules 4, wherein, each positioning module 7 comprises a positioning pin 701 and a positioning cylinder 702, a slide rail 2 is provided with a positioning hole 201 for inserting the positioning pin, the processing module is electrically connected with the positioning cylinder 702 for controlling the positioning pin to move towards the positioning hole 201, and when the first RFID code carrier 401 is lifted or the welding robot takes materials from the power trailer device, the RFID code carrier 401 is stopped, the positioning device is stopped by the positioning module 1, and the positioning module 1 is stopped by stopping the positioning module 702, and the positioning module 7 is correspondingly arranged to the information carrier module 4.
Referring to fig. 5 to 6, in order to increase the deviation tolerance of the stop position of the clamping device 1 from the predetermined position and increase the deviation compatibility of the positioning module 7, an inclined plane 703 is provided at one end of the positioning pin 701 facing the positioning hole 201, and the inclined plane 703 is gradually inclined and contracted from the outer side of the side wall of the positioning pin 701 toward the positioning hole 201, of course, in the debugging process, if the clamping device 1 is only one side, the inclined plane 703 may be provided at one side of the positioning pin 701, but in order to increase the compatibility, the inclined plane 703 is provided with two groups, and the included angle between the inclined plane 703 and the inclined plane 703 is 60 ° to 90 ° corresponding to the advancing and retreating directions of the clamping device 1, when the included angle is 60 °, the included angle of the single-side inclined plane 703 is 30 °, and the inclined plane 703 is easy to guide, when the included angle is 60 °, the included angle of the single-side inclined plane 703 is 45 °, so that the inclined plane 703 can be compatible with a larger error interval.
Referring to fig. 1 to 8, the I-grade and I I-grade of the vehicle body parts are identified and distinguished by scanning the first RFID carrier 401 by the RFID scanner 501, and the shapes of the vehicle body parts of different vehicle types are different, so that when the clamping device 1 clamps the vehicle body parts, the relative positions of the upper clamp 101 and the lower clamp 102 need to be adjusted to take the vehicle body parts, so that the possibility of deviation caused by shaking easily occurs in the moving process of the clamping device 1 is reduced, the accuracy of taking and assembling of the manipulator in the assembling process is improved, but if the position information of the upper clamp 101 and the lower clamp 102 corresponding to each model is stored in the first RFID carrier 401, The storage capacity of the first RFID carrier 401 is required to be new, so that in order to enable the clamping device 1 to have the capacity of adjusting after identification and judgment, the vehicle body suspension conveying system for trolley production further comprises an adjusting module, the identifying module further comprises a camera 502, the camera 502 is assembled on the clamping device 1, the camera 502 is electrically connected with a processing module for inputting material image information captured by the camera 502, and the processing module is electrically connected with the adjusting module for outputting an instruction for adjusting the position of a lower clamp 102 of the clamping device 1; Wherein the adjusting module comprises a rotating motor 801, the lower clamp 102 is connected with a screw rod sliding block of a hanging frame 103 of the clamping device 1, the lower clamp 102 is connected with a sliding block 906, the rotating motor 801 is used for rotating a screw rod 905, the screw rod 905 is assembled in a lower lifting appliance, the lower clamp 102 is slidingly assembled with the lower lifting appliance, and because the vehicle body parts are placed on the material frame after being divided into gear positions by the previous procedure, the positions of the vehicle body parts on the material frame and the clamping device 1 are relatively fixed, which makes the adoption of the camera 502 as an identifying module possible, because the camera 502 does not confirm the positions of the vehicle body parts and the clamping device 1, The distortion of the imaging of the camera 502 will cause errors to the recognition, and the specific working process is as follows, the processing module needs to pre-store the image information of the car body parts with different models, the clamping device 1 reaches the corresponding a point part placement area, the locking mechanism locks the clamping device 1, at this time, the camera 502 shoots the car body parts, inputs the image information to the processing module, the processing module compares the shot image information with the pre-stored image information, the hanging frame 103 descends to the clamping position of the car body parts in the process of information comparison, when the processing module obtains the position parameters of the lower clamp 102, outputs the position parameters to the rotating motor 801, the rotating motor 801 rotates, The clamp drives the lower clamp 102 to slide on the screw rod 905 so as to clamp the parts of the car body, the hanging frame 103 rises, the driving mechanism 3 drives the clamping device 1to slide and convey on the sliding rail 2, and as the upper clamp 101 and the lower clamp 102 are matched to clamp the parts of the car body, the risk of deviation caused by shaking of the parts of the car body is reduced in the moving process of the clamping device 1, the moving speed of the clamping device 1 is favorably improved, the conveying efficiency of a car body suspension system is improved, when the clamping device 1 moves to the RFID carrier II 401, the camera 502 identifies whether the welding robot clamps the parts of the car body on the clamping device 1, If clamped, signals are input to the processing module, and the processing module outputs instructions to control the rotating motor 801 to rotate, so that the lower clamp 102 loosens the parts of the vehicle body.
Of course, lidar may also be used to address the distortion of camera 502, but the cost will increase substantially.
Referring to fig. 8, in order to further improve the degree of clamping of the upper and lower clamps 101 and 102 on the body part and the degree of matching between the upper and lower clamps 101 and 102 and the clamping of the body part, since the body part is a stamping part, in order to reduce deformation caused by the clamping, the body part is hung on the upper clamp 101, the lower clamp 102 supports the body part, the adjusting module further includes a pressure sensor 802, the pressure sensor 802 is connected with the lower clamp 102, the pressure sensor 802 is electrically connected with the processing module and is used for inputting a signal of the clamping state of the lower clamp 102 on the material, the lower clamp 102 is embedded in a slot of polyurethane, when the lower clamp 102 contacts with the body part, the pressure sensor 802 detects the pressure of the body part on the lower clamp 102, the pressure is fed back to the processing module, the processing module judges whether the upper clamp 101 and the lower clamp 102 have clamped the body part according to the pressure value, thus, the rotating motor 801 is adjusted to finely adjust the lower clamp 102, therefore, after the upper clamp 101 overcomes the gravity of the vehicle body part, the pressure sensor 802 is arranged on the lower clamp 102 to detect the contact acting force signal with the vehicle body part, obviously, if the pressure sensor 802 is arranged on the upper clamp 101, the upper clamp 101 is always pressed, the required pressure change value cannot be measured, because with the arrangement, when the camera 502 recognizes image information to the processing module, the distance between the upper clamp 102 and the lower clamp 102 is slightly smaller than the clamping distance of the vehicle body part when the processing module gives the position parameter of the lower clamp 102, the pressure sensor 802 is used for finely adjusting the position of the lower clamp 102, thereby avoiding the risk of deformation of the vehicle body part caused by overlarge clamping force to the vehicle body part, when the clamping device 1 moves to the processing station, the camera 502 recognizes that the welding robot clamps the automobile body parts, the processing module controls the rotating motor 801 to reversely rotate to loosen the automobile body parts, and the pressure sensor 802 feeds back the pressure value in real time to judge the loosening degree of the lower clamp 102 to loosen the automobile body parts.
Referring to fig. 4 to 7, when the clamping device 1 carries the parts of the vehicle body to the corresponding processing station, the robot takes the parts of the vehicle body and places the parts of the vehicle body on the vehicle body for welding, at this time, if the clamping device 1 does not leave the processing station, the welded arc light will damage the CMOS of the camera 502, thereby affecting the normal imaging of the camera 502, therefore, a vehicle body suspension conveying system for trolley production, further comprises an optical sensor 901, a protective cover 902 and a pushing cylinder 903, the protective cover 902 is connected with the output end of the pushing cylinder 903, the optical sensor 901 is electrically connected with a processing module for inputting a welding arc light detection signal, the processing module is electrically connected with the pushing cylinder 903 for controlling the protective cover 902 to move back and forth towards the camera 502, the optical sensor 901 should be arranged at a position faster than the camera 502 and easier to detect the welding arc light, of course, the arrangement mode provided by the embodiment is that the optical sensor 901 is connected to the side of the crane frame 103, which is close to the welding robot, when the optical sensor is suddenly reinforced, the processing module is pushed by the optical sensor 901, the processing module is pushed to the processing module is prevented from being moved towards the camera 502, and the arc light is prevented from being influenced by the control module 502.
Referring to fig. 4 to 5, in order to provide conveying efficiency, a car body suspension conveying system for trolley production comprises a plurality of groups of clamping devices 1 running in a sliding rail 2, wherein the sliding rail 2 is in a closed loop arrangement.
And when multiunit clamping device 1 operates, can have the condition of jam, in order to make can possess between the clamping device 1 and keep away the barrier function, a dolly production is with automobile body suspension conveying system, still include ultrasonic module 904, ultrasonic module 904 sets up in clamping device 1 direction of going forward, ultrasonic module 904 is connected with processing module and is used for the input to detect the information of whether the place ahead has the barrier, processing module gives actuating mechanism 3 according to this information and opens stop command, should open stop command priority is higher than the start stop command that identification module detected, from this, promote multiunit clamping device 1 security of collaborative operation.
The above embodiments are not intended to limit the scope of the present application, so: all equivalent changes in structure, shape and principle of the application should be covered in the scope of protection of the application.
Claims (9)
1. The utility model provides a dolly production is with automobile body suspension conveying system which characterized in that: the system comprises a processing module, a driving mechanism electrically connected with the processing module, an information carrier module, an identification module and an adjusting module, wherein the information carrier module is used for storing information of different stations or different materials, the identification module acquires the information of the information carrier module and inputs the information to the processing module for comparing and matching station information with the material information, when the information carrier module is matched with the information of the processing module, the processing module outputs a stop instruction to the driving mechanism, the identification module is provided with an RFID code scanner used for identifying the information carrier module, the RFID code scanner is connected with a clamping device, the information carrier module comprises a first RFID code carrier group used for storing the material information, the first RFID code carrier group is connected above a material frame and comprises a plurality of RFID code carrier groups used for respectively storing the different material information, when the information carrier module is matched with the information of the processing module, the second RFID code carrier group is connected with a sliding rail and comprises a second RFID code carrier group used for storing the processing station information, the RFID code carrier group is preset and connected with the clamping device, the RFID code carrier group is connected with the information carrier module and the position of the clamping device, the RFID code carrier module is further connected with the RFID code carrier module, the RFID code carrier group is used for searching the position of the material clamping device, the RFID code carrier group is connected with the RFID code carrier module, the RFID code carrier group is used for inputting the information, the RFID code carrier group is used for capturing the information, the information is matched with the position of the material clamping device, the RFID code carrier is matched with the information, the RFID carrier module is used for capturing the position of the material, and the information, outputting the moving position of the clamping device and corresponding processing parameters, when the clamping device moves to a preset processing position, the RFID code scanning device scans the RFID code carrying body II, compares the information in the RFID code carrying body II with the processing information preset by the processing module, confirms whether the information is consistent with the processing information, stops the clamping device when the information is consistent with the processing information, and starts the driving mechanism when the information is inconsistent with the processing information, and the RFID code scanning device continues to scan the next RFID code carrying body II.
2. The car body suspension conveying system for car production according to claim 1, wherein: the positioning module is used for locking the clamping device when the driving module stops, and the positioning module is arranged corresponding to the preset stopping position of the driving mechanism.
3. A car body suspension conveying system for car production according to claim 2, characterized in that: the positioning module comprises a positioning pin and a positioning cylinder, the sliding rail is provided with a positioning hole, and the processing module is electrically connected with the positioning cylinder and used for controlling the positioning pin to move back and forth towards the positioning hole.
4. A body suspension conveyor system for trolley production according to claim 3, wherein: the insertion end of the locating pin is provided with an inclined plane, and the inclined plane gradually inclines and contracts from the outer side of the side wall of the locating pin to the direction of the locating hole.
5. The car body suspension conveying system for car production according to claim 1, wherein: the adjusting module comprises a rotating motor, the lower clamp is connected with the hanging frame through a screw rod sliding block, the lower clamp is connected with the sliding block, and the rotating motor is used for rotating the screw rod.
6. The car body suspension conveying system for car production according to claim 5, wherein: the adjusting module further comprises a pressure sensor, wherein the pressure sensor is connected with the lower clamp, and the pressure sensor is electrically connected with the processing module and used for feeding back the clamping state of the lower clamp on the material.
7. The car body suspension conveying system for car production according to claim 1, wherein: the welding arc light detection device comprises a camera, a processing module, a protective cover, an optical sensor and a pushing cylinder, wherein the optical sensor is electrically connected with the processing module, the protective cover is connected with the output end of the pushing cylinder, the optical sensor is used for inputting welding arc light detection signals, and the processing module processes the signals and is used for outputting instructions to control the pushing cylinder to push the protective cover to move back and forth towards the camera.
8. The car body suspension conveying system for car production according to claim 1, wherein: the clamping device is provided with a plurality of groups, the clamping device runs in the sliding rail, and the sliding rail is in closed-loop arrangement.
9. The car body suspension conveying system for car production according to claim 8, wherein: the device comprises a clamping device, a processing module, an ultrasonic module and a driving mechanism, wherein the clamping device is used for clamping the material, the ultrasonic module is arranged in the forward direction of the clamping device, the ultrasonic module is connected with the processing module and is used for inputting information for detecting whether an obstacle exists in front, and the processing module gives out a start-stop instruction of the driving mechanism according to the information.
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